Honda Accord: allow fingerprinting without comma power (#31477)

* Do Accord

* add comment

* good test

* this catches the accord/accordh issue!

* as expected, only if both radar&camera have in common FW does the test fail

* cmt

* clean up

* better

* Use HondaFlags

* detect alt brake

* for test

* hypothesis isn't installed

* test failure

* works

* Revert " works"

This reverts commit bfc0d808ab.

* Revert "test failure"

This reverts commit 10ab6eb63c.

* Revert "hypothesis isn't installed"

This reverts commit d474cc3f0e.

* Revert "for test"

This reverts commit 98e039f4fc.

* this is important too

* clean up

* merge accord fingerprints, test

* remove duplicates

* accordh doesn't have these

* rm

* no unknown

* start over, merge platforms

* add cmt

* note non-essential ecus

* add non essential obd ecus

* combine FW

* format fingerprints (remove dups)

* migrate test models segs

* cmt

* Update ref_commit

* clean up
old-commit-hash: ce6637cd8f

selfdrive/car/honda/carstate.py

@@ -64,7 +64,7 @@ def get_can_messages(CP, gearbox_msg):
       messages.append(("CRUISE_PARAMS", 50))
 
   # TODO: clean this up
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+  if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
                            CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
     pass
   elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
@@ -129,7 +129,7 @@ class CarState(CarStateBase):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
                                   CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):

selfdrive/car/honda/fingerprints.py

@@ -48,6 +48,7 @@ FW_VERSIONS = {
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TVC-A910\x00\x00',
+      b'54008-TWA-A910\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-6A7-A220\x00\x00',
@@ -89,6 +90,12 @@ FW_VERSIONS = {
       b'57114-TVA-C530\x00\x00',
       b'57114-TVA-E520\x00\x00',
       b'57114-TVE-H250\x00\x00',
+      b'57114-TWA-A040\x00\x00',
+      b'57114-TWA-A050\x00\x00',
+      b'57114-TWA-A530\x00\x00',
+      b'57114-TWA-B520\x00\x00',
+      b'57114-TWA-C510\x00\x00',
+      b'57114-TWB-H030\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TBX-H120\x00\x00',
@@ -100,6 +107,7 @@ FW_VERSIONS = {
       b'39990-TVA-X030\x00\x00',
       b'39990-TVA-X040\x00\x00',
       b'39990-TVE-H130\x00\x00',
+      b'39990-TWB-H120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBX-H230\x00\x00',
@@ -108,6 +116,9 @@ FW_VERSIONS = {
       b'77959-TVA-H230\x00\x00',
       b'77959-TVA-L420\x00\x00',
       b'77959-TVA-X330\x00\x00',
+      b'77959-TWA-A440\x00\x00',
+      b'77959-TWA-L420\x00\x00',
+      b'77959-TWB-H220\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TBX-H310\x00\x00',
@@ -141,7 +152,19 @@ FW_VERSIONS = {
       b'78109-TVC-M510\x00\x00',
       b'78109-TVC-YF10\x00\x00',
       b'78109-TVE-H610\x00\x00',
+      b'78109-TWA-A010\x00\x00',
+      b'78109-TWA-A020\x00\x00',
+      b'78109-TWA-A030\x00\x00',
+      b'78109-TWA-A110\x00\x00',
+      b'78109-TWA-A120\x00\x00',
+      b'78109-TWA-A130\x00\x00',
       b'78109-TWA-A210\x00\x00',
+      b'78109-TWA-A220\x00\x00',
+      b'78109-TWA-A230\x00\x00',
+      b'78109-TWA-A610\x00\x00',
+      b'78109-TWA-H210\x00\x00',
+      b'78109-TWA-L010\x00\x00',
+      b'78109-TWA-L210\x00\x00',
     ],
     (Ecu.hud, 0x18da61f1, None): [
       b'78209-TVA-A010\x00\x00',
@@ -158,6 +181,9 @@ FW_VERSIONS = {
       b'36802-TVE-H070\x00\x00',
       b'36802-TWA-A070\x00\x00',
       b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A210\x00\x00',
+      b'36802-TWA-A330\x00\x00',
+      b'36802-TWB-H060\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TBX-H130\x00\x00',
@@ -166,72 +192,17 @@ FW_VERSIONS = {
       b'36161-TVC-A330\x00\x00',
       b'36161-TVE-H050\x00\x00',
       b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
+      b'36161-TWB-H040\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TVA-A010\x00\x00',
       b'38897-TVA-A020\x00\x00',
       b'38897-TVA-A230\x00\x00',
       b'38897-TVA-A240\x00\x00',
-    ],
-  },
-  CAR.ACCORDH: {
-    (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TWA-A120\x00\x00',
       b'38897-TWD-J020\x00\x00',
     ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TWA-A040\x00\x00',
-      b'57114-TWA-A050\x00\x00',
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-      b'57114-TWA-C510\x00\x00',
-      b'57114-TWB-H030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TWA-A440\x00\x00',
-      b'77959-TWA-L420\x00\x00',
-      b'77959-TWB-H220\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TWA-A010\x00\x00',
-      b'78109-TWA-A020\x00\x00',
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A110\x00\x00',
-      b'78109-TWA-A120\x00\x00',
-      b'78109-TWA-A130\x00\x00',
-      b'78109-TWA-A210\x00\x00',
-      b'78109-TWA-A220\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-      b'78109-TWA-A610\x00\x00',
-      b'78109-TWA-H210\x00\x00',
-      b'78109-TWA-L010\x00\x00',
-      b'78109-TWA-L210\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A010\x00\x00',
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TWA-A070\x00\x00',
-      b'36161-TWA-A330\x00\x00',
-      b'36161-TWB-H040\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TWA-A070\x00\x00',
-      b'36802-TWA-A080\x00\x00',
-      b'36802-TWA-A210\x00\x00',
-      b'36802-TWA-A330\x00\x00',
-      b'36802-TWB-H060\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A150\x00\x00',
-      b'39990-TVA-A160\x00\x00',
-      b'39990-TVA-A340\x00\x00',
-      b'39990-TWB-H120\x00\x00',
-    ],
   },
   CAR.CIVIC: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [

selfdrive/car/honda/interface.py

@@ -59,7 +59,7 @@ class CarInterface(CarInterfaceBase):
     if any(0x33DA in f for f in fingerprint.values()):
       ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
 
-    # Accord 1.5T CVT has different gearbox message
+    # Accord ICE 1.5T CVT has different gearbox message
     if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
       ret.transmissionType = TransmissionType.cvt
 
@@ -115,7 +115,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
+    elif candidate == CAR.ACCORD:
       ret.mass = 3279. * CV.LB_TO_KG
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39

selfdrive/car/honda/values.py

@@ -74,7 +74,6 @@ VISUAL_HUD = {
 
 class CAR(StrEnum):
   ACCORD = "HONDA ACCORD 2018"
-  ACCORDH = "HONDA ACCORD HYBRID 2018"
   CIVIC = "HONDA CIVIC 2016"
   CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
   CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
@@ -119,8 +118,8 @@ CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = {
   CAR.ACCORD: [
     HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_BOSCH: [
     HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
@@ -201,14 +200,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
   # We lose these ECUs without the comma power on these cars.
   # Note that we still attempt to match with them when they are present
   non_essential_ecus={
-    Ecu.programmedFuelInjection: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.transmission: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.transmission: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.vsa: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.srs: [CAR.ACCORD],
-    Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.eps: [CAR.ACCORD],
-    Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.vsa: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.gateway: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
     Ecu.shiftByWire: [CAR.ACCORD],  # existence correlates with transmission type for ICE
-    Ecu.hud: [CAR.ACCORD, CAR.ACCORDH],  # existence correlates with trim level
+    Ecu.hud: [CAR.ACCORD],  # existence correlates with trim level
   },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
@@ -219,7 +220,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
 
 DBC = {
   CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
   CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
@@ -252,6 +252,6 @@ STEER_THRESHOLD = {
 HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.RIDGELINE}
-HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
+HONDA_BOSCH = {CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
                CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
 HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}

selfdrive/car/tests/routes.py

@@ -82,8 +82,8 @@ routes = [
   CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
   CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
   CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs
-  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
+  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORD),  # hybrid
-  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs
+  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORD),  # hybrid, 2021 with new style HUD msgs
   CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
   CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),

selfdrive/car/tests/test_models_segs.txt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cadad21e1230729c70cffb4c46dd0a5dda4eec1a262b1bcd9f1b6b98265c20b5
+oid sha256:0810a361ec5b5f5f9a2ee73b89ffb2df62ef40e8feff7e97ecb62f80fa53f6f5
-size 125104
+size 124950

selfdrive/car/torque_data/params.toml

@@ -11,8 +11,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818]
 "CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520]
 "GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-"HONDA ACCORD 2018" = [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
+"HONDA ACCORD 2018" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
-"HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
 "HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
 "HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
 "HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-47609e372bf616932c4dca74d2616c3d97fa2443
+dab93e072903e80f91029a03600430c43c722cb7